function t=wedrive_test_gnss()

close all
clear all
clear gca



addpath(genpath(pwd))
global_variable;


load('mat_data/file.mat')
load('mat_data/imu.mat')
load('mat_data/nav.mat')
load('mat_data/obsr.mat')
load('mat_data/obsb.mat')
load('mat_data/opt.mat')


global glc gls
rtk=gls.rtk;

% 读取�?次就�?,转换为mat文件，直接load
% [opt,file,gui_flag]=GINavCfg;
% 读取�?�?,转换为mat文件，直接load
% read input file
% [obsr,obsb,nav,imu]=read_infile(opt,file);


% load ()

% initlize output file
rtk=initoutfile(rtk,opt,file,obsr);


% high efficiency by converting struct to matrix
obsr=adjobs(obsr,opt); % rover的观�? （P,L,D,S,LLI,code�?
obsb=adjobs(obsb,opt); % base_station的观�? （P,L,D,S,LLI,code�?
nav =adjnav(nav,opt);  % 导航文件(broadcast ephemeris,精密星历)

% set base position for relative positioning mode
rtk=baserefpos(rtk,opt,obsb,nav);


% set anttena parameter for satellite and reciever
if opt.mode~=glc.PMODE_SPP
    % 赋�?�：收机天线和卫星天线相位中心变�?(PCV)
    nav=L2_L5pcv_copy(nav);
    if isfield(obsr,'sta'),stas(1)=obsr.sta;end
    if isfield(obsb,'sta'),stas(2)=obsb.sta;end
    time0.time=obsr.data(1,1);time0.sec=obsr.data(1,2);
    [nav,opt]=setpcv(time0,opt,nav,nav.ant_para,nav.ant_para,stas);
end

% gnss/ins integration
gi_processor(rtk,opt,obsr,obsb,nav,imu);

fprintf('Done!   \n');


t = 1;
return